sequential_scan_matcher.h

Go to the documentation of this file.

/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 */

#ifndef POSE_GRAPH_SEQUENTIAL_SCAN_MATCHER_H
#define POSE_GRAPH_SEQUENTIAL_SCAN_MATCHER_H

#include <graph_slam/scan_manager.h>
#include <boost/circular_buffer.hpp>

namespace graph_slam
{

namespace pg=pose_graph;


class SequentialScanMatcher : public ScanManager
{
public:
  
  SequentialScanMatcher(const geometry_msgs::Pose2D& laser_offset, double max_link_length,
                        unsigned min_chain_length, double min_response, bool use_covariances);

  NodeConstraintVector getConstraints (const pg::PoseGraph& g, const pose_graph::NodeId ref_node,
                                       const Pose& initial_pose_estimate,
                                       const LaserPtr scan) const;

  ChainVec candidateChains (const pg::PoseGraph& graph, pose_graph::NodeId ref_node, 
                            const geometry_msgs::Point& barycenter, const LaserPtr scan) const;

  void addRunningNode (const pg::NodeId& n);
  
private:

  // Mutable because it is initialized in getConstraints, which is logically const
  mutable KartoMatcherPtr matcher_; 

  const double max_link_length_;
  const double min_chain_length_;
  const double min_response_;
  const double use_covariances_;

  boost::circular_buffer<pg::NodeId> running_nodes_;

};

} // namespace

#endif // include guard